config_program_watch_variable (Manual Mode)

This section explains how to use config_program_watch_variable during Manual (Teach) operations. This function registers variables to be monitored and displayed on the Teach Pendant (TP) Watch tab while a DRL program is running or being manually executed. It allows operators to track variable values such as speed, torque, counters, or user-defined parameters in real time.

Typical usage

• Display selected variables on the TP for visual feedback during manual teaching.

• Monitor changing process values (e.g., force, position, loop counters) while adjusting motions.

• Debug user-defined DRL variables interactively without pausing the program.

• Use with sensor or parameter tuning tasks for live observation.

Note

• The watch list can display multiple variables simultaneously.

Example: Register and monitor custom teaching variables

drfl.open_connection("192.168.137.100");

// Example 1: Global variable - teaching speed
bool result1 = drfl.config_program_watch_variable(VARIABLE_TYPE_GLOBAL,
                                                  DATA_TYPE_FLOAT,
                                                  "teach_speed",
                                                  "0.25");
if (result1)
    printf("[WATCH] Added variable 'teach_speed' (0.25)\n");

// Example 2: Program variable - counter
bool result2 = drfl.config_program_watch_variable(VARIABLE_TYPE_PROGRAM,
                                                  DATA_TYPE_INT,
                                                  "cycle_count",
                                                  "10");
if (result2)
    printf("[WATCH] Added variable 'cycle_count' (10)\n");

// Example 3: String variable - operator name
drfl.config_program_watch_variable(VARIABLE_TYPE_GLOBAL,
                                   DATA_TYPE_STRING,
                                   "operator_name",
                                   "\"John\"");
printf("[WATCH] Registered string variable 'operator_name' = John\n");

printf("[Teach] You can now view these variables in TP > Watch tab.\n");

// Keep process alive for TP observation
while (true)
    this_thread::sleep_for(chrono::seconds(3));

When called, this function adds the specified variables to the TP Watch panel for real-time observation during teaching or DRL program execution. It helps users verify logic correctness, parameter updates, and dynamic state changes without interrupting robot operation.

Tips

• Use for live monitoring of global or program variables during teaching.

• Combine with set_on_tp_log to track variable changes alongside log messages.

• Useful for debugging loops, counters, and tuning parameters in real time.